US8210907B2 - Device for fine machining workpieces - Google Patents

Device for fine machining workpieces Download PDF

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Publication number
US8210907B2
US8210907B2 US12/678,557 US67855708A US8210907B2 US 8210907 B2 US8210907 B2 US 8210907B2 US 67855708 A US67855708 A US 67855708A US 8210907 B2 US8210907 B2 US 8210907B2
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United States
Prior art keywords
machining
longitudinal sides
workpieces
module
honing
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Expired - Fee Related, expires
Application number
US12/678,557
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English (en)
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US20100210190A1 (en
Inventor
Alfred Walter
Oliver Bey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gehring Technologies GmbH and Co KG
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Gehring Technologies GmbH and Co KG
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Assigned to GEHRING TECHNOLOGIES GMBH reassignment GEHRING TECHNOLOGIES GMBH ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BEY, OLIVER, WALTER, ALFRED
Publication of US20100210190A1 publication Critical patent/US20100210190A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B33/00—Honing machines or devices; Accessories therefor
    • B24B33/02—Honing machines or devices; Accessories therefor designed for working internal surfaces of revolution, e.g. of cylindrical or conical shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
    • B23Q3/15526—Storage devices; Drive mechanisms therefor
    • B23Q3/15539—Plural magazines, e.g. involving tool transfer from one magazine to another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools
    • B23Q3/15706—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools a single tool being inserted in a spindle directly from a storage device, i.e. without using transfer devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/1736—Tool having specific mounting or work treating feature
    • Y10T483/174—Abrading wheel
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
    • Y10T483/179—Direct tool exchange between spindle and matrix
    • Y10T483/1793—Spindle comprises tool changer
    • Y10T483/1795—Matrix indexes selected tool to transfer position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1845—Plural matrices

Definitions

  • the invention concerns a device for fine machining workpieces, preferably for honing and/or fine boring cylinder bores in crankcases of internal combustion engines.
  • honing methods for example, peak honing, friction honing, glide honing, free-form honing, position honing, brush honing, liquid honing, laser structuring etc. All methods differ with respect to the tools, the rotary speeds, the oscillation speeds and possibly the configuration of the tools and their feed action.
  • honing machines For each honing method there are various honing machines. For example, for position honing a rotary speed of the honing tool of up to 2,000 min ⁇ 1 is required and simultaneously a stiff spindle support. For finish/plateau honing, on the other hand, a rotary speed of approximately 300 min ⁇ 1 and an articulated tool receptacle are required. When as a result of material changes or a workpiece change the honing method must be changed, the machine must be converted or another honing machine must be used.
  • each working station is configured for performing at least one working step and at least part is designed as a honing station for performing a honing operation (DE 10 2004 053 503 A1).
  • the invention has the object to provide an autarkic machining unit with which it is possible to perform as many different machining methods as possible, at least however different honing methods of the aforementioned kind and also fine boring (also referred to as fine turning) without requiring conversion.
  • the unit should be utilizable in particular for cylinder bores in the crankcases for internal combustion engines.
  • each machining unit comprises an electromotorically driven spindle, an electromotoric or hydraulic drive that serves for generating the oscillating stroke movement of the spindle as well as for moving the machining unit into a working position, a tool receptacle with a rigid axis relative to the axis of the spindle and a feed device for radial feeding of the machining tools, and in that between the longitudinal sides provided with the machining units a service chamber is provided, that has an entry at one of the end wall connecting the longitudinal sides, and the machining units arranged at a longitudinal side of the module having at least one tool magazine correlated therewith that is arranged at the rear end wall of the module and in that within the module on or in the vicinity of each longitudinal side a machining station is provided, to which workpieces, through the gates arranged at the
  • the important methods for fine machining bores may be integrated into one module, either such that up to four machining steps can be performed sequentially on one workpiece or also such that two or more bores can be machined at the same time.
  • machining time is saved in that on a first machining station a first machining step (for example, pre-honing or fine boring) is carried out by the first machining unit, while the second machining unit may already pick up the required tool from a tool magazine for a second machining step (for example, finish honing).
  • the machining unit comprises the following components:
  • This machining unit is suitable for performing all honing methods.
  • four machining units furnished with different tools, in one molecule it is possible to carry out on the same workpiece sequentially or on two workpieces simultaneously, for example, pre-honing (or fine boring), finish boring (for example, also position honing), laser structuring of the surface, and then, optionally, beveling.
  • a complete, autarkic, flexible, modular machining cell is proposed that, on the one hand, can completely machine even workpieces that require several working steps but that also can be integrated into another production line within a very short mounting and/or converting time.
  • the external dimensions are selected such that without demounting of components a transport on a roadway (width: 2.2 m, height: 3.55 m), by sea (container) and air (planks) is possible.
  • the complete module employs as a drive of the spindle for the oscillation and the movement into a working position advantageously directly driven electric linear motors. They are developed further in an advantageous way such that the linear motor is configured in a U-construction (double-sided linear motor). In this way, it is free of any transverse forces during operation.
  • the tool receptacle is provided with rigid support such that the spindle support is positioned at the smallest possible spacing relative to the beginning of the bore.
  • a short and rigidly clamped honing tool is used and the spindle support is connected to the stroke oscillation.
  • the machining unit can be used also for so-called position honing (DE 103 48 419 B3).
  • position honing DE 103 48 419 B3
  • the variety of applications is ensured moreover by use of a feed mechanism that may be integrated into the machining unit for honing and fine boring; this is disclosed in the prior patent application DE 10 2007 038 123.0 dated Aug. 4, 2007.
  • This feed device expands the honing tool in the conventional way and serves for preadjustment and post-adjustment of a fine boring tool.
  • FIG. 1 a schematic view of the module with four machining units
  • FIG. 2 the module according to FIG. 1 but without the lateral covers so that the inner installations are partially visible;
  • FIG. 3 a schematic plan view onto the module according to FIGS. 1 and 2 ;
  • FIG. 4 the left half of the module according to FIGS. 1-3 in perspective view
  • FIG. 4 a a variant of FIG. 4 relative to the configuration of one half of a module (schematic, without sidewall);
  • FIG. 4 b a section of a linear motor that serves for moving a machining unit
  • FIG. 5 the right half of the module 1 in perspective view (in accordance with FIG. 4 );
  • FIG. 6 a section of the feed unit
  • FIG. 7 two modules 1 that are linked with one another
  • FIG. 8 the schematic illustration of a machining mode of a module designed for complete machining of a given workpiece (two of these workpieces are located in the module);
  • FIG. 9 a second machining mode designed for linked transfer operation
  • FIG. 10 a third machining mode designed for complete machining, for example, prehoning of a cylinder bore and simultaneous machining of the crankshaft bore.
  • FIG. 1 shows the module referenced in general by 1 , embodied as a booth with walls along the two longitudinal sides 2 and 3 , a rear end wall 4 and a front end wall 5 as well as an entry 6 to the central service chamber 7 . Through this entry 6 the service chamber 7 is accessible by an operator P (compare FIG. 3 ).
  • two machining units 10 , 11 , 12 , and 13 are provided, respectively, on the longitudinal side 2 the machining units 10 and 11 and on the longitudinal side 3 the machining units 12 and 13 , for example.
  • the correlated control units are housed In the control cabinet 9 a on the end sections of the longitudinal sides and 9 b at the end wall 4 .
  • gates 15 , 16 that are aligned with one another workpieces 20 —in the embodiment the crankcase of an internal combustion engine—are transportable into the machining stations 17 , 18 , respectively, where they are accessible by the machining units 10 , 11 arranged at the correlated longitudinal side (at longitudinal side 2 ) or 12 , 13 (at longitudinal side 3 ) so that they can perform the machining steps on the workpieces 20 positioned thereat.
  • the tools can be honing tools of various kinds or fine boring tools.
  • FIG. 4 shows in a perspective view one half (relative to FIGS. 1-3 : the left half) of a module 1 with the machining units 10 , 11 ; in particular rails 40 , 41 are shown on which the machining units 10 , 11 are horizontally movable.
  • a workpiece 20 is secured on a pivotable working platform, formed by two pivotable supports 22 , 23 . The pivoting action is utilized when the rows of bores of a V-type engine that are positioned at an angle to one another must be machined.
  • FIG. 4 a shows rails 45 on which a carriage 46 that forms the working platform can be moved into a position (working position) in which the two machining units access a workpiece 20 clamped thereon, i.e., they can work on it.
  • the tool magazine 30 is embodied as a turntable which has receiving openings 47 for tool deposit 50 .
  • the receiving openings in the embodiment are arranged on two concentric circles.
  • the tools that are received from the left machining unit 10 (in FIG. 4 ) are arranged in the tool deposit 50 in the outer circle of openings 47 on the turntable while the tools for the right machining unit are arranged on the inner circle of the receiving openings 47 .
  • the travel distances that must be performed by the machining units 10 , 11 to reach the tool magazine 30 can be kept minimal.
  • the turntable that forms the tool magazine 30 is rotatable about a vertical axis so that with a matched control the tool that is to be accessed, respectively, is moved into the suitable position from which it can be picked up by a machining unit.
  • the supply of signals of the control unit housed in the control cabinets 9 a , 9 b to the motors arranged in the machining units is realized through lines in trailing cables 51 , 52 (see FIG. 4 a ).
  • the machining units 10 , 11 , 12 and 13 can receive feed rods for honing tools as well as feed rods for fine boring tools. Such tools are disclosed in patent application 10 2007 038 123.0 dated Aug. 4, 2007, the contents of which is incorporated by reference into the instant application.
  • FIG. 6 The configuration of a feed unit, for example, for the machining unit 11 that can receive, move, and feed a honing tool as well as a fine boring tool is illustrated in FIG. 6 . It has an incremental rotary position encoder 60 that determines the rotary angle of the direct current motor 61 . The rotation is transmitted by a gear 62 and effects the axial movement of the ball bearing spindle 64 and the feed rod 63 connected thereto which causes in the tool the radial expansion of a honing stone (in case of a honing tool) or of a boring cutter (in case of a fine boring tool).
  • the machining unit 10 (see FIG. 4 ) is formed by a plate 75 that is movable along the rails 40 and 41 , namely by means of a spindle 42 which is driven in rotation by a motor 43 .
  • a plate 75 On the plate there are vertical rails 67 , 68 (compare also FIG. 4 b ) on which a headstock 66 is guided by means of longitudinal guide 77 .
  • the headstock 66 contains the spindle 100 and the tool receptacle 80 is perpendicularly moveable along the rails 67 , 68 .
  • the vertical drive can be, for example, an electric linear motor that is embodied so as to be free of transverse forces preferably in that on the inner side of the legs of the frame 73 the magnets 71 and 72 are arranged that form the secondary part (stator).
  • the primary part (movable part) 74 is secured in this frame 73 and is secured on the headstock 66 .
  • the drive can be realized hydraulically but also as a threaded spindle drive.
  • the arrangement of the spindles 100 of the two machining units 10 , 11 is such that they are arranged on neighboring sides of the machining units and in this position adjacent to one another can machine also simultaneously neighboring bores of the workpiece 20 .
  • the distance is, for example, 150 mm.
  • the drives In order to accomplish fine boring as wells as honing—prehoning as well as finish honing—the drives must be capable of providing the typical rotary speeds for honing of 250-350 rpm as well as the typical rotary speeds for fine boring of more than 1,000 rpm wherein for fine boring axial feed strokes of less than 1 m/min and for honing feed strokes of 20-60 m/min are to be provided.
  • modules 1 can be arranged adjacent to one another wherein between two modules 1 an empty module 80 can be used by means of which between the gates of the neighboring modules and an access to the workpieces and possibly further measures for control are possible.
  • FIG. 8 shows schematically a module in which the workpieces 20 are supplied and removed separately from the left as well as from the right wherein the workpieces 20 supplied from the left are machined by the machining units 10 and 11 , the workpieces supplied from the right machined by the machining units 12 , 13 . It is also possible to perform two machining steps of the machining units 10 and 11 and also of the machining units 12 and 13 .
  • FIG. 9 shows an embodiment in which the conveying rails for the supply and removal of workpieces 20 pass through the aligned gates 15 , 16 of the two modules 1 that are linked in this way.
  • FIG. 10 shows an embodiment in which a horizontal machining unit 90 is movable horizontally for machining the boring sections that are arranged to be vertically aligned with one another.
  • the boring sections receive in case of a crankcase the bearings for the crankshaft.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Drilling And Boring (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
  • Polishing Bodies And Polishing Tools (AREA)
US12/678,557 2007-09-17 2008-09-16 Device for fine machining workpieces Expired - Fee Related US8210907B2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102007045619 2007-09-17
DE102007045619.2 2007-09-17
DE102007045619A DE102007045619B4 (de) 2007-09-17 2007-09-17 Vorrichtung zur Feinbearbeitung von Werkstücken
PCT/EP2008/007696 WO2009036944A1 (de) 2007-09-17 2008-09-16 Vorrichtung zur feinbearbeitung von werkstücken

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US20100210190A1 US20100210190A1 (en) 2010-08-19
US8210907B2 true US8210907B2 (en) 2012-07-03

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Country Status (8)

Country Link
US (1) US8210907B2 (de)
EP (1) EP2197627B1 (de)
JP (1) JP2010538845A (de)
CN (1) CN101815597B (de)
AT (1) ATE503609T1 (de)
BR (1) BRPI0816931B1 (de)
DE (2) DE102007045619B4 (de)
WO (1) WO2009036944A1 (de)

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US20140206258A1 (en) * 2013-01-19 2014-07-24 Hon Hai Precision Industry Co., Ltd. Milling and grinding device and machining method using the same
US20160325396A1 (en) * 2015-05-06 2016-11-10 Gehring Technologies Gmbh Honing machine with a machine frame and at least two units arranged on both sides of the machine frame
US10668589B2 (en) 2012-08-06 2020-06-02 Etxe-Tar, S.A. Machine tool
US10688617B2 (en) 2011-05-13 2020-06-23 Etxe-Tar, S.A. Machine tool
US11229981B2 (en) * 2017-03-20 2022-01-25 Stama Maschinenfabrik Gmbh Machine tool having two tool spindles
US11541494B2 (en) 2017-09-04 2023-01-03 Dmg Mori Co., Ltd. Conveyance device
US12030155B2 (en) 2019-09-27 2024-07-09 Kadia Produktion Gmbh + Co. Honing machine

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JP5528091B2 (ja) * 2009-12-22 2014-06-25 文化シヤッター株式会社 長寸部材の孔明け装置及びその方法
EP2374574B2 (de) * 2010-03-16 2017-04-26 Degen Maschinenbau GmbH Hochgeschwindigkeits-Honmaschine
DE202010018091U1 (de) 2010-05-11 2014-01-31 Gehring Technologies Gmbh Vorrichtung zur Bearbeitung einer Zylinderbohrung mit geometrischbestimmter Schneide
DE102011013358B4 (de) * 2011-03-08 2012-12-27 Gehring Technologies Gmbh Werkzeugspindel mit integrierter Betätigungseinrichtung für eine Werkzeugaufnahme
DE102011056099B3 (de) * 2011-12-06 2012-11-22 Mag Ias Gmbh Werkzeugmaschine
DE102012201730A1 (de) * 2012-02-06 2013-08-08 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honmaschine mit mehreren Arbeitsstationen
DE102015212597A1 (de) * 2015-07-06 2017-01-12 Mag Ias Gmbh Positioniervorrichtung für ein Zylinderkurbelgehäuse und Hilfsvorrichtung sowie Verfahren zum Bearbeiten eines Zylinderkurbelgehäuses
DE102016201456A1 (de) 2016-02-01 2017-08-03 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honmaschine mit mehreren Arbeitsstationen
DE202016002857U1 (de) 2016-04-04 2016-05-19 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honmaschine mit mehreren Arbeitsstationen
CN107775033B (zh) * 2017-11-14 2020-06-19 六安市振宇模具有限公司 一种可自动更换刀具的多孔钻机
DE102019113032A1 (de) * 2019-05-17 2020-11-19 Gehring Technologies Gmbh Vorrichtung zur Honbearbeitung
DE102019210548A1 (de) * 2019-07-17 2021-01-21 Kadia Produktion Gmbh + Co. Honmaschine
CN110480485B (zh) * 2019-09-17 2024-06-07 南京谦之源信息科技有限公司 一种高效的杯体抛光机
DE102019128351A1 (de) * 2019-10-21 2021-04-22 Gehring Technologies Gmbh Honmaschine und ein Verfahren zur Durchführung von Honoperationen an orthogonal zueinander ausgerichteten Bohrungen in einem Werkstück
CN110666466A (zh) * 2019-11-18 2020-01-10 杭州锴铭机械制造有限公司 一种曲轴箱的高精度加工工艺
DE102019218038B4 (de) * 2019-11-22 2024-01-18 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honmaschine mit mehreren Arbeitsstationen und Fertigungsanlage

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US4423567A (en) * 1981-09-16 1984-01-03 Raven Iii Alfred J Power stroking honing machine and control apparatus
US4907372A (en) * 1987-10-26 1990-03-13 Micromatic Operations Inc. Cylinder bore finishing apparatus tilt fixture
DE29500756U1 (de) 1995-01-19 1996-05-23 Maschinenfabrik Gehring GmbH & Co, 73760 Ostfildern Honmaschine zur Bearbeitung von Werkstückbohrungen
DE19846278A1 (de) 1998-10-08 2000-04-20 Bosch Gmbh Robert Bearbeitungssystem zum Bearbeiten von Werkstücken, insbesondere zum Schleifen von Werkstücken
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US6920678B2 (en) * 2001-04-10 2005-07-26 Nissin Manufacturing Co., Ltd. Machining cell in automatic machining system and automatic honing system
US7371149B2 (en) * 2004-09-07 2008-05-13 Sunnen Products Company Honing feed system having full control of feed force, rate, and position and method of operation of the same
US20060089087A1 (en) 2004-10-27 2006-04-27 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honing installation with several work stations
DE102004053503A1 (de) 2004-10-27 2006-05-04 Nagel Maschinen- Und Werkzeugfabrik Gmbh Honanlage mit mehreren Arbeitsstationen

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EP2197627B1 (de) 2011-03-30
CN101815597A (zh) 2010-08-25
JP2010538845A (ja) 2010-12-16
US20100210190A1 (en) 2010-08-19
ATE503609T1 (de) 2011-04-15
CN101815597B (zh) 2012-04-04
BRPI0816931A2 (pt) 2015-03-17
DE102007045619A1 (de) 2009-03-19
DE102007045619B4 (de) 2010-06-10
WO2009036944A1 (de) 2009-03-26
DE502008003040D1 (de) 2011-05-12
EP2197627A1 (de) 2010-06-23
BRPI0816931B1 (pt) 2019-12-17

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